CN108883788A

CN108883788A - Steering gear

Info

Publication number: CN108883788A
Application number: CN201780005463.9A
Authority: CN
Inventors: 伊藤贵广; 山崎胜; 佐佐木光雄; 山野和也
Original assignee: Hitachi Automotive Systems Ltd
Current assignee: Hitachi Astemo Ltd
Priority date: 2016-01-13
Filing date: 2017-01-05
Publication date: 2018-11-23
Also published as: KR102073499B1; DE112017000239B4; JP6588571B2; KR20180089503A; DE112017000239T5; JPWO2017122562A1; US10766523B2; US20190016378A1; WO2017122562A1

Abstract

The present invention provides a kind of steering gear that can safely continue traveling in the case where failure has occurred in auto-pilot control.Steering gear of the invention have the ancillary control function by having the steering of auxiliary driver and automatically controlled according to rudder angle instruction value the motor drive mechanism of the multisystem of the auto-pilot control function of steering wheel rudder angle at Vidacare corp, in the steering gear, in the case that failure has occurred in a system of the motor of Vidacare corp in the control under auto-pilot control, controller continues automatic Pilot control (S36) using the motor for the normal system not broken down, later, by have been transferred to auxiliary control (S21) when motor export-restriction value be set as less than systematic motor all set in normal action it is normal when export-restriction value failure when export-restriction value.

Description

Steering gear

Technical field

The present invention relates to a kind of steering gears, electronic with being made of multiple driving devices and multiple motor windings Driving device.

Background technique

The control device some of the steering gears such as power steering gear has to be selected to assist according to the operating condition of vehicle Control controls both controls and the function that is controlled (for example, with reference to Japanese Patent Laid-Open 4-55168 with auto-pilot Bulletin：Patent document 1), the auxiliary control is the steering for controlling the actuator equipped with motor etc. and assigning auxiliary driver The steering assist force of power, the auto-pilot control are to generate target rudder angle according to the instruction value of host controller and control to hold Row device and adjust automatically steering wheel rudder angle.

In addition, having to reduce the state for the steering miscellaneous function for losing steering gear when driving as far as possible equipped with two The motor drive of system being made of the combination of driving device and 1 group of motor winding for corresponding to the driving device Steering gear is (for example, with reference to Japanese Patent Laid-Open 2012-25374 bulletin：Patent document 2), the driving device is by inversion Device etc. is constituted.In the steering gear, in the inverter for detecting any system or when around the failure of group, disengagement failure system Power supply relay, and the upper limit value (maximum current limit value) of the electric current of normal system supply limits value is set as and failure Same value before measuring.In turn, when speed is less than defined threshold, maximum current limit value is set as zero and is set as not generating The state of steering auxiliary torque.

Existing technical literature

Patent document

Patent document 1：Japanese Patent Laid-Open 4-55168 bulletin

Patent document 2：Japanese Patent Laid-Open 2012-25374 bulletin

Summary of the invention

Problems to be solved by the invention

In steering gear described in Patent Document 2, when after failure is measured less than fixing speed, maximum current can be limited Value processed is set as zero without generating auxiliary torque, and driver can be made to perceive failure as a result, and inhibit the fever of motor.Herein, Consider such in patent document 1 have auxiliary control and what auto-pilot controlled control system that both are controlled is Has the case where steering gear for the motor drive being made of multisystem using such in patent document 2 in system.

At this point, if the motor of a system breaks down in auto-pilot and the hand of driver has left steering wheel, Torque will not be then generated, before driver grasps steering wheel, the traveling behavior of vehicle is likely to occur entanglement.In addition, driving The person of sailing perceives failure and grasps steering wheel in the case where continuing traveling, to be transferred to auxiliary control.But turn in auxiliary control It is electronic when also failure unexpectedly has occurred in normal another system in the case where issuing after shifting with torque same before failure The torque assisted before machine can be directly added to driver.At this point, driver can experience torsional impact.In addition, side It is rotated due to the counter-force from road surface to disk, causes vehicle behavior that entanglement occurs.

It can be safely in the case where failure has occurred in auto-pilot control the purpose of the present invention is to provide one kind Continue the steering gear of traveling.

Technical means to solve problem

In order to achieve the above objectives, steering gear of the invention have with multisystem by driving circuit with around group The Vidacare corp of the motor constituted is combined,

The steering gear has controller, any one of the controller selection auxiliary control and auto-pilot control Control controls the Vidacare corp to be no more than the output of range of preset export-restriction value, wherein described auxiliary Helping control is that steering force is assisted according to the steering torque of the operation input by steering wheel, and the auto-pilot control is root The rudder angle of steering wheel is controlled according to rudder angle instruction value, which is characterized in that,

The system hair of the motor of the Vidacare corp described in the control under auto-pilot control In the case where having given birth to failure,

The controller continues the auto-pilot control using the motor for the normal system not broken down, it Afterwards,

The export-restriction value of the motor of normal system when having been transferred to the auxiliary control is set as Export-restriction value when failure, when the failure export-restriction value than systematic motor all set in normal action just Export-restriction value is small when often.

The effect of invention

Steering gear of the invention have by multiple motor drive mechanisms at Vidacare corp, auto-pilot control in drive In the case that failure has occurred in the motor that the hand for the person of sailing has left a system in the state of steering wheel, direction is caught in driver Before disk is operated, continue automatic Pilot control using the motor of normal system.Thereafter, when driver perceives failure And when operating steering wheel, it is transferred to auxiliary control.In turn, the export-restriction in the case where assisting control is had been transferred to after making failure Value is less than the export-restriction value in the case that all motor are all normal condition.Reduce auxiliary force as a result, even if such as normal Another motor failure has occurred again, can also reduce as auxiliary is lost and is transferred to the torsional impact of driver.Thus, root According to the present invention, even if failure has occurred in steering gear in automatic Pilot, big entanglement will not occur for vehicle behavior, can be safe Continue to travel in ground.

Project, composition and effect other than the above will be defined by the explanation of following implementation.

Detailed description of the invention

Fig. 1 is the skeleton diagram for indicating the composition of an embodiment of steering gear of the invention.

Fig. 2 is the skeleton diagram for indicating the composition of an embodiment of Vidacare corp of steering gear of the invention.

Fig. 3 be indicate the embodiment of the present invention 1 steering gear it is normal when control flow chart.

Fig. 4 is the flow chart for indicating the auto-pilot control of the steering gear of the embodiment of the present invention 1.

Fig. 5 is the flow chart that transfer mode is controlled when indicating the failure of the steering gear of the embodiment of the present invention 1.

Fig. 6 is the flow chart of auto-pilot control when indicating the failure of the steering gear of the embodiment of the present invention 1.

Fig. 7 is the flow chart of transfer control when indicating the failure of the embodiment of the present invention 1.

Fig. 8 is the flow chart of auxiliary control when indicating the failure of the embodiment of the present invention 1.

Fig. 9 is related to the embodiment of the present invention 1, for for failure has occurred in steering gear in automatic Pilot when driver not The case where grasping steering wheel and show steering torque, the current value being powered to the winding of the motor of each system and current limit The figure of the example of the time change of value.

Figure 10 is related to the embodiment of the present invention 1, for for failure has occurred in steering gear in automatic Pilot when driver The case where hold steering wheel and show steering torque, the current value being powered to the winding of the motor of each system and electric current and limit The figure of the example of the time change of value processed.

Figure 11 is the flow chart of transfer control when indicating the failure of the embodiment of the present invention 2.

Figure 12 is the flow chart of auxiliary control when indicating the failure of the embodiment of the present invention 2.

Figure 13 is related to the embodiment of the present invention 2, for for failure has occurred in steering gear in automatic Pilot when driver The case where not grasping steering wheel and show steering torque, the current value being powered to the winding of the motor of each system and electric current and limit The figure of the example of the time change of value processed.

Figure 14 is the process for indicating the processing relevant to the setting of current limit value when failure of the embodiment of the present invention 3 Figure.

Figure 15 is related to the embodiment of the present invention 3, for for failure has occurred in steering gear in automatic Pilot when driver The case where not grasping steering wheel and show steering torque, the current value being powered to the winding of the motor of each system and electric current and limit The figure of the example of the time change of value processed.

Specific embodiment

In the following, being illustrated to the embodiment of the present invention.Furthermore Fig. 1 and illustrated in fig. 2 constitute are described below Common composition in each embodiment.

Steering gear 1 is electrically driven device 2 and steering mechanism 3 is constituted.

Steering mechanism 3 has steering wheel 4, steering shaft 5, pinion shaft 6 and rack shaft 7.Vidacare corp 2 is via deceleration Mechanism 8 is connected to rack shaft 7.

It is formed with the rack tooth ratcheting with pinion shaft 6 on rack shaft 7, rack and pinion structure is constituted, by pinion gear The linear motion for being converted to rack shaft 7 of axis 6.That is, rotating when driver operates steering wheel 4 via steering Axis 5 is transferred to pinion shaft 6.The rotational motion of pinion shaft 6 is converted to the linear motion of rack shaft 7.As a result, via being connected to The left and right wheels 10,11 that the track rod 9 at the both ends of rack shaft 7 is linked are come about.

Torque sensor 12 is provided between steering shaft 5 and pinion shaft 6.Torque sensor 12 is according to torsion (not shown) Torsion of bar angle exports steering torque 21.Torsion bar configures the interconnecting piece in steering shaft 5 and pinion shaft 6.

The deceleration mechanism 8 for being connected to the output shaft 19 of Vidacare corp 2 is for example using electronic by being mounted in Fig. 1 The ball screw 14 that belt pulley 13 on the output shaft of driving device 2 drives.By this composition, the torque of motor 9 is converted to The translation direction power of rack shaft 7.Furthermore deceleration mechanism 8, which can also be used, is used in the same manner rack-and-pinion with the input of steering wheel 4 Constitute or directly driven using hollow motor etc. ball screw nut composition etc..

From driver select the signal of the automatic Pilot operated when the control under auto-pilot switch (SW), from vehicle The Vehicular status signal etc. of the acquisitions such as camera, sensor and the cartographic information of middle setting is input to host controller 15.When driving When the person of sailing operates pilot selector switch and selects the vehicle control under automatic Pilot, vehicle is generated according to Vehicular status signal Path, and upper signal 20 is exported to realize the path to the Vidacare corp of steering gear 12, which includes Indicate that steering gear 1 is wanted when the signal for executing auto-pilot control or which control in auxiliary control and auto-pilot control Rudder angle instruction value asked etc..

Vidacare corp 2 has input terminal 16 and output terminal 17, and is connected with power supply 18.Such as upper signal 20, the Vehicular status signals such as steering torque value 21 and speed 22 are input to the input terminal 16 of Vidacare corp 2.In addition, The motor control electric current calculated from the output of the output terminal 17 of Vidacare corp 2 by control device 30,36 (referring to Fig. 2) 24, the signal 23 of the mode of operation of steering gear 1 is conveyed to host controller 15 and to the warning dress for informing the states such as failure Set the warning instruction 25 etc. of (warning generator) 24.

As shown in Fig. 2, Vidacare corp 2 is by the first system motor (the first system motor driver) 35 and the second system Motor (second system motor driver) 41 of uniting is constituted.The first system motor 35 has control device A30, driving circuit A31, winding A32, current detector A 33 and position detector A34.Composition and the first system electricity of second system motor 41 Motivation 35 is identical, has control device B36, driving circuit B37, winding B38, current detector B 39 and position detector B40. Herein, driving circuit A31 and winding A32, driving circuit B37 and winding B38 are respectively constituted for example by inverter and brushless horse The group (system) that the winding reached is formed flows winding A32 and winding B38 by operation driving circuit A31 and driving circuit B37 Galvanization generates the torque for the rotor rotation for making to link with drive shaft 19.

Then, the constituent element of each system 35,41 is described in detail.Furthermore due to the first system motor 35 with Second system motor 41 is identical composition, therefore is illustrated to the first system motor 35, second system motor 41 Corresponding constitute then is illustrated in a manner of marking parenthesized symbol.In addition, " A " and " B " is to distinguish the first system electricity The mark is used together for ease of understanding with symbol to be illustrated by the mark of motivation 35 and second system motor 41.

Current detector A 33 (B 39) measures the electric current being powered to winding A32 (B38).By current detector A 33 (B39) current feedback detected is to control device A30 (B36).

Position detector A34 (B40) detection is by the output of the torque drive generated and being powered to winding A32 (B38) The position of axis 19.By the position feedback of position detector A34 (B40) output shaft 19 detected to control device A30 (B36).

It executes the auto-pilot control for carrying out auto-pilot in addition, control device A30 (B36) has and assists driver's The function of the various controls such as the auxiliary control of steering torque 21.In addition, control device A30 (B36) has according to from upper control The upper signal 16 of device processed, steering torque signal 21, vehicle-state 22 etc. carry out the function of operation torque command value.In addition, control Device A30 (B36) has the current feedback values and position detector according to torque command value, current detector A 33 (B 39) Location feedback value of A34 (B40) etc., the operation pair in such a way that Vidacare corp 2 generates torque identical with torque command value The function for the current instruction value that winding A32 (B38) is powered.In turn, control device A30 (B36) is to circulate to winding A32 (B38) The mode of same electric current operates driving circuit A31 (B37) with current instruction value.As a result, since winding A32 and winding B38 connects Be connected to same output shaft 19, thus from output shaft 19 export winding A32 and winding B38 respectively caused by torque sum.

In the following, being illustrated with reference to attached drawing to the embodiment of the Vidacare corp 2 of steering gear 1 of the invention.Again Person marks same symbol to same element in each figure, and the repetitive description thereof will be omitted.

Embodiment 1

Fig. 3 is the general of the control of Vidacare corp 2 of the expression steering gear 1 in the case where normal work (when normal) Flow chart slightly.

Vidacare corp 2 selects control method according to the upper signal 20 exported from host controller 15.Firstly, control Device A30 and control device B36 processed read the upper signal 20 (step S1) of host controller 15.Then, sentence in step s 2 The fixed requirement for whether thering is auto-pilot to control.Herein, the requirement of auto-pilot control is, for example, to control automatic Pilot in driver It switchs and the state satisfaction of automatic Pilot control, vehicle is selected (safely to go to condition needed for starting automatic Pilot Sail, fault-free etc.) in the case where issue.In the case where requiring to execute automatic Pilot control by host controller 15, enter to Step S3 executes auto-pilot control (step S3).In addition, being determined with auxiliary control in step s 2 requires (usual control State) in the case where, step S4 is entered to, auxiliary control is executed.After executing step S3 or step S4, step S5 is entered to, In the case where vehicle is in the requirements such as starting state and continues control, it is back to step S1, repeats the process of Fig. 3.On the other hand, In the case where the function of vehicle is that the failed calls such as halted state continue control, ended processing, halt system.

Fig. 4 is the flow chart for indicating the outline of the processing executed in auto-pilot control.

When executing auto-pilot control, upper signal 20 (step S11) is obtained first, determines whether to require to continue to grasp automatically Rudder (step S12).In the case where requiring to continue auto-pilot control, step S13 is entered to, reading is examined by torque sensor 12 The steering torque 21 measured.In step S14, torque sensor 12 value be preset threshold value situation below under, Judge that steering wheel 4 is not grasped by driver, the steering of driver does not require, enters to step S15.In step S15, obtain The fault message of steering gear 1.Herein, fault message includes failure, the torque sensor that the inside of Vidacare corp 2 occurs The failure etc. that sensor outside 12 etc. occurs, passes through the observation of multiple sensors, the mutual prison of the motor 35,41 of two systems Depending on etc. extracted.Fault-free judgement is carried out in step s 16 enters to step S17 in the case where no failure, after Continuous auto-pilot control.

In addition, in step s 12 not from host controller 15 continuation auto-pilot requirement the case where or In the judgement of step S14 steering torque 21 be greater than preset threshold value and in the case where being determined with the steering requirement of driver, Control transfer mode is executed in step S18, carries out the smoothly transfer from automatic Pilot to auxiliary control.Herein, about behaviour The preset threshold value of rudder torque 21, for example, it is preferably electronic come steering wheel 4 when detecting auto-pilot using torque sensor 12 The torque that driving device 2 generates in the case where operating by inertia force, the threshold is determined using value of the torque detected etc. Value.

Herein, so-called control transfer mode, e.g. fingering row state control as follows：Make electronic needed for auto-pilot The ratio of the torque output for the Vidacare corp 2 that the torque output of driving device 2 successively decreases, while keeping auxiliary control required is passed Increase.By the control, it will not make the traveling behavior of vehicle that big variation occur, in turn, the counter-force transmitted from steering wheel 4 will not allow Driver feels not harmony.When the ratio by controlling the torque that transfer mode makes auto-pilot control required becomes zero When, it is transferred to auxiliary control S19, executes the auxiliary control of the steering torque of auxiliary driver later.

Then, the judgement faulty situation of steering gear 1 in step s 16 is illustrated.In a failure situation, Transfer mode (step S20) is controlled when being transferred to failure.Herein, transfer mode is controlled when so-called failure, refers to that steering gear 1 exists The state of a control of the auxiliary control of the steering of auxiliary driver is transferred to when malfunction from automatic Pilot control.

The processing executed in the step S20 of transfer mode is controlled when Fig. 5 illustrates failure with flow chart.

First, it is determined that failure system (step S31), and driving circuit (driving circuit A31 or the driving of operating trouble system Circuit B37) and disengagement failure system (step S32).

In addition, as shown in step S33 to warning generator 24 send warning instruction 25 and make its generate warning, with The failure of steering gear is notified when failure occurs.In this case, warning generator 24, which preferably passes through to alert, supervises driver to grasp Steering wheel.In addition, the warning can for example pass through the vibration of the steering wheel of the degree of the behavior of warning tones, indicator light, lossless vehicle Dynamic, speed reduction is executed based on auto-pilot control to the mobile etc. of low speed carriage way, and it is possible to by individually or These means are applied in combination to be used as the warning to driver.In addition, may also set up to just driving on the road Other vehicles or pedestrian notify the warning of failure.For this purpose, preferably aobvious to other vehicles by warning to the setting of warning generator 24 Show the failure display 24a of the failure of steering gear 1.

Then, information (step S34) relevant to the steering state of driver is obtained.Herein, steering state for example using The steering torque 21 obtained by torque sensor 12.In step s 35, determine that steering wheel (SW) 4 is using the steering state It is no to be grasped.In step S35, such as in the case where steering torque 21 is less than preset threshold value, judge steering wheel 4 It is not grasped.In the case where steering wheel 4 is not grasped, step S36 is entered to, auto-pilot controls when executing failure.Failure When auto-pilot control will be in describing hereinafter.

In addition, in step s 35 steering torque 21 be threshold value more than and judge the case where steering wheel 4 is hold by driver Under, step S37 is entered to, transfer control when executing failure.Transfer control will also be described below when the failure.Thereafter, in step Auxiliary control when executing failure in rapid S21.

That is, in the present embodiment, controller (control device) is sentenced in the case where steering torque has reached specified value or more Disconnected driver has held steering wheel 4 and has been switched to auxiliary control from auto-pilot control.

The flow chart of the process flow of auto-pilot control when Fig. 6 is the failure executed in the step S36 for indicate Fig. 5.

In step S41, steering gear 1 of rerunning break down after torque command value.Herein, vehicle in order to prevent Cause the behavior of vehicle that entanglement, the torsion rerun occurs because of the torque change dramatically of steering gear 1 in turning driving Square instruction value be with become with the torque before failure it is same, become [torque command value=refer to the torque of the first system motor Enable value+to the torque command value of second system motor] mode carry out operation.In step S42, the torsion that is calculated according to this It is exporting with the same torque of torque command value, logical to normal winding A32 or winding B38 to obtain that square instruction value carrys out operation The current instruction value of electricity.Herein, related to the output of the torque of each motor to the current value of each winding energization.Therefore, in electric current It is worth in biggish situation, the output of each motor is larger.

Then, in step S43, whether the current instruction value calculated in determination step S42 is in the normal work of steering gear 1 When making to each winding be powered it is normal when current limit value below.

Herein, current limit value be, for example, according to the fever in the case where aliving to winding stream will not damage winding and Upper limit value of the electric current of circuit etc. predetermines.When current instruction value is normal in current limit value situation below, Current instruction value is not changed in step S44, to refer to normal winding A32 or winding B38 circulation with the electric current in step S45 The mode that order is worth same electric current operates the driving circuit A31 or driving circuit B37 of normal system.

In addition, electric current refers to when the current instruction value calculated in judgment step S42 in the judgement of step S43 is greater than normal In the case where enabling value, current instruction value is reset in a manner of becoming identical with current limit value when normal in step S46. Thereafter, it is grasped in a manner of to the normal winding A32 or winding B38 circulation current value same with the current instruction value of reset Make the driving circuit A31 or driving circuit B37 of normal system.

Fig. 7 is the flow chart of the process flow of transfer control (step S37) when indicating the failure of Fig. 5.

In step s 51, operation is to Vidacare corp 2 needed for realizing rudder angle required by host controller 15 Torque output is auto-pilot torque.Meanwhile according to the steering torque 21 detected by torque sensor 12 come operation to auxiliary Help the auxiliary torque 21 of driver.Then, the operation torque command value in step S52.Herein, torque command value is to transport before The form for the value that the auto-pilot torque and auxiliary torque of calculating are synthesized into is subject to operation, so that the behavior of vehicle does not occur greatly Variation.For example, the ratio for preferably reducing the ratio of auto-pilot torque with the rising of steering torque 21, increasing auxiliary torque Example.According to the torque command value calculated in step S52 come operation current instruction value (step S53).Then, one system of operation Motor fault when set, be equivalent to winding A32 or winding B38 energization electric current maximum value failure when electric current limit Value (step S54) processed.

Herein, current limit value can successively decrease when failure, for example, from judging that driver grasped time of steering wheel 4 and lighted It is reduced with the increase of the steering torque 21 of driver, eventually becomes prespecified fixed value.Herein, prespecified to consolidate Definite value be than it is previously described normal when the small value of current limit value, and be imagine remaining normal system failure and entirely without Method generates the state of auxiliary torque again to be set.For example, the current value that will preferably generate following minimum auxiliary torque is set Minimum current limits value when being set to failure：For the torsional impact that the moment that auxiliary torque disappears is transmitted from steering wheel 4, driver Steering can be carried out in a manner of not upsetting the behavior of vehicle substantially.

Then, when whether Cutoff current instruction value is the failure set in step S54 in step S55 current instruction value with Under, when current instruction value is failure in current limit value situation below, current instruction value (step S56) is not changed.It is another Aspect, in the case where current limit value when current instruction value is greater than failure is judged in step S55, to become and electric current when failure The mode setting electric current instruction value (step S59) of the identical value of limits value.Then, in step S57, to normal winding A32 or winding B38 circulation operates driving circuit A31 or the drive of normal system with the mode of the same current value of the current instruction value Dynamic circuit B37.

Then, in step S58, for calculated in step S52 auto-pilot torque is synthesized with auxiliary torque and Torque command value and determine whether the ratio (auto-pilot ratio) of the torque of auto-pilot is zero.Meanwhile determining failure When current limit value whether become equal with minimum current value when previously described failure.Be not zero in auto-pilot ratio or Current limit value is back to step S51, repeats to locate in minimum current limits value unequal situation when failure when failure Reason.When auto-pilot ratio is zero and failure, current limit value becomes the value equal with minimum current limits value when failure In the case of, auxiliary control S21 when transfer controls and executes failure when terminating failure shown in Fig. 7.

Fig. 8 is the flow chart of the process flow of auxiliary control S21 when indicating failure.

Torque command value in step S61, according to steering torque 21 come operation to execute auxiliary control.Herein, will The torque command value of the motor of two systems is given when Vidacare corp 2 is normal before, and be changed to can be by the motor of a system The torque command value of output.In step S62, according to the torque command value calculated come operation to obtain and torque command Current instruction value being worth same torque output, being powered to normal winding A32 or winding B38.Then, in step S63, Whether Cutoff current instruction value is in the failure being powered to each winding below minimum current limits value.It is failure in current instruction value When minimum current limits value situation below under, current instruction value is not changed in step S64, to normal in step S65 Winding A32 or winding B38 circulation the driving circuit A31 of normal system is operated with the mode of the same electric current of the current instruction value Or driving circuit B37.

In addition, the current instruction value calculated in judgment step S62 in the judgement of step S63 is greater than minimum electricity when failure In the case where flowing instruction value, electricity is reset in such a way that minimum current limits value when becoming with failure is identical in step S66 Flow instruction value.Thereafter, with the electric current same with the current instruction value of reset to normal winding A32 or winding B38 circulation The mode of value operates the driving circuit A31 or driving circuit B37 (step S65) of normal system.

Using Fig. 9, to the steering gear 1 driven by above composition and process flow in auto-pilot control Processing in the case that failure has occurred in the motor of one system is illustrated.Fig. 9 is related to the embodiment of the present invention 1, for Driver does not grasp the case where steering wheel 4 and illustrates steering torque, to each when failure has occurred in steering gear 1 in automatic Pilot The time change of current value and current limit value that the winding of the motor of system is powered.

Fig. 9 it is envisaged that equipped be carrying out auto-pilot control steering gear 1 vehicle on bend when driving The case where failure has occurred in a part of second system motor 41.In 3 charts of Fig. 9, the 51 of upside drive for expression The steering torque diagram of the time change of the steering torque of member.The 52 of center are to indicate that the time of the first system motor current value becomes The first system motor current value figure of change illustrates the size of the electric current of the winding A32 energization to the first system motor 35 Time change.The 53 of downside are the second system motor current value for indicating the time change of second system motor current value Figure illustrates the time change of the size of the electric current of the winding B38 energization to second system motor 41.Furthermore shown in 51 Solid line 54 indicate driver steering torque (the steering torque 21 of Fig. 1).In addition, dotted line shown in 52 indicates the first system The current limit value of motor 35, dotted line 56 shown in 53 indicate the current limit value of second system motor 41.In addition, 52 Shown in solid line 57 indicate the first system motor 35 current instruction value example, solid line 58 shown in 53 indicate second The example of the current instruction value of system motors 41.

Using the composition of Fig. 1 to 9, the time change of flow chart, steering torque 21 and current value, to steering gear 1 Movement is illustrated.

At the time point of the time (moment) 59 of the left end of Fig. 9, vehicle is that automatic Pilot state is driven as shown in solid line 54 The hand for the person of sailing has left steering wheel 4, therefore, as shown in solid line 54, does not generate steering torque 54.In this state, such as the step of Fig. 3 Shown in rapid S3, steering gear 1 is with the output torque of the first system motor 35 that is controlled by auto-pilot control and the The synthesis output torque of the output torque of two system motor 41 is being acted.

In the time 60, second system motor 41 breaks down, and at this moment, steering gear 1 is obtained in the step S15 of Fig. 4 Fault message and judge be in malfunction (step S16), execute step S20 failure when control transfer mode.In turn, exist The failure of second system motor 41 is judged in the step S31 of Fig. 5, is operated driving circuit B37 in step s 32 and is cut off generation The second system motor 41 of failure.In addition, at the time point of time 60, as shown in Figure 51 of steering torque, without steering Torque 54, therefore determine that steering wheel 4 is not grasped (step S35) according to the information that gets in step S34, when executing failure from Dynamic steering control (step S36).In failure in auto-pilot control, the operation Vidacare corp 2 in the step S41 of Fig. 6 Torque output instruction value.At this point, since second system motor 41 is cut off because of failure, it turns on bend When it is insufficient to the power that makes wheel come about.It, will be to normal system, that is, the first system motor 35 in order to compensate for the insufficient power Torque command value is changed to be equivalent to the size of two system degree before failure as described previously.

According to the torque command value calculated come operation to the current instruction value (step of normal the first system motor 35 S42).Then, confirm in step S43 the current instruction value calculated be with before to the Vidacare corp of normal condition 2 When the identical value of the value of setting is i.e. normal this case that current limit value 55a or less.When current instruction value is normal, electric current is limited In value 55a situation below processed, driving circuit A31 (step is controlled according to the current instruction value (step S44) for not making to change S45).When current instruction value is more than normal in the case where current limit value 55a, when current instruction value is reset to normal Current limit value 55a (step S46) controls driving circuit A31.

Herein, the maximum output of the Vidacare corp 2 of steering gear 1 is according to the vehicle to come about and requiring peak torque Halted state is designed.In the state of having a degree of speed, keep wheel required torque of coming about smaller, therefore, In the case where the composition for Fig. 2 that the two such system as shown in the present embodiment is made of identical motor 35,41, Neng Goutong The torque output for crossing a system degree sufficiently to generate the required torque of coming about in traveling.Therefore, behaviour is perceived in driver The failure of rudder arrangement 1 and before starting steering, according to process shown in fig. 6, use remaining normal the first system motor 35 continue auto-pilot.

Then, at the time of the time of Fig. 9 61, driver perceives the failure of steering gear 1 and catches steering wheel 4, this When, as shown in solid line 54, start to detect steering torque 54.When steering torque 54 increases, when executing failure in step 37 Transfer control.

When failure in transfer control, as shown in fig. 7, automatic behaviour needed for operation continues auto-pilot control in step 51 Auxiliary torque needed for rudder torque and auxiliary control.Then, as described previously with the behavior of vehicle do not occur greatly change and And driver will not experience the change in torque of unexpected steering wheel 4 mode operation be equivalent to by auto-pilot torque and auxiliary The torque for the torque command value (step S52) that torque is synthesized into, to winding A32 be powered current value (step S53).Example Such as, as the current value corresponding to auto-pilot torque indicated in Fig. 9 with single dotted broken line 63 and pair that is indicated with double dot dash line 64 It should carry out reducing with the increase of the operation torque 54 of driver like that shown in the time change of the current value of auxiliary torque The control of the ratio, the ratio of increase auxiliary torque 64 of auto-pilot torque.At this point, corresponding to the current value of auto-pilot torque Successively decrease, the current value corresponding to auxiliary torque is incremented by.

For this purpose, controller (control device) is in the form of internal operation values with motor needed for auto-pilot control Output (auto-pilot torque) ratio, that is, auto-pilot contribution rate and auxiliary control needed for motor output (auxiliary turn round Square) ratio i.e. assist control contribution rate, from auto-pilot control be switched to auxiliary control when, gradually decrease automatic Pilot tribute Rate is offered, while auxiliary control contribution rate is gradually increased.

Herein, in Fig. 9, single dotted broken line 63 and double dot dash line 64 are to be recorded as changing linearly relative to steering torque 54 Lines, but can also actually be set as according to steering situation and be in the lines of nonlinear change.

Then, current limit value when arithmetic fault in step S54.As shown in the dotted line 55b of Fig. 9, with steering torque 21 rising also reduces the current limit value 55 of the first system motor 35.That is, significantly detecting steering torsion In the case where square, for the lesser situation of steering torque, current limit value can be reduced.In addition, as shown here, such as Current limit value eventually becomes fixed value 55c as shown in dotted line 55 when being preferably set as failure.Herein, current limit value when failure Final fixed value 55c be preferably set as being equivalent to the current value of following auxiliary torque：When assisting control, auxiliary torque is because normal The further failure of system and it is impaired in the case where, just the variation of vehicle behavior can only be inhibited by the steering torque 21 of driver In specified value.For example, the final fixed value 55c of current limit value is preferably set as by experiment, simulation etc. when the failure Value of the vehicle without departing from the lane in traveling in the case that all torsion torque of the Vidacare corp 2 of steering gear 1 is all damaged Deng.

Then, the electric current when current instruction value calculated in verification step S53 as shown in the step 55 of Fig. 7 is failure This case below limits value.When current instruction value being failure below current limit value, referred to according to the electric current for not making to change Value (step S56) is enabled to control driving circuit A31 (step S57).On the other hand, when current instruction value is more than failure, electric current is limited In the case where value processed, current limit value (step S59) controls driving circuit when current instruction value is reset to failure A31。

As shown in figure 9, the ratio in the current value with auto-pilot becomes zero and then current limit value becomes and failure When minimum current limits value equal time 62 at the time of, terminate transfer control when failure as shown in the step S58 of Fig. 7, Auxiliary control when executing failure shown in the step S21 of Fig. 5.That is, when steering torque has reached specified value or more, controller Auto-pilot contribution rate is set as zero and executes the control under auxiliary control by (control device).

When failure in auxiliary control, as shown in figure 8, operation auxiliary torque (torque command value), union in step S61 To current instruction value (step S62) needed for making normal the first system motor 35 export auxiliary torque.Then, in step This case below current limit value when the current instruction value calculated is failure is confirmed in S63.It is failure in current instruction value When current limit value situation below under, driving circuit A31 is controlled according to the current instruction value (step S64) for not making to change (step S65).On the other hand, when current instruction value is more than failure in the case where current limit value, again by current instruction value Current limit value (step S66) controls driving circuit A31 when being set as failure.Then, the process of Fig. 8 is repeated until vehicle Auxiliary control when failure is persistently carried out until becoming halted state.

In the steering gear 1 for having auto-pilot function, it is contemplated that become in the case where operating vehicle with automatic Pilot The hand of driver has left the state of steering wheel 4 (from hand state).Event has occurred in a part of steering gear under from hand state In the case where barrier, steering gear 1 by winding A32 or winding B38 energization electric current limits value be set as with it is identical before failure It is worth and continues auto-pilot.Therefore, the vehicle of the steering gear 1 equipped with the present embodiment can also pacify in 1 failure of steering gear Continue to travel and big entanglement will not occur for behavior entirely.

In addition, driver perceives failure hold steering wheel 4 start steering in the case where, will to winding A32 or around Group B38 be powered current value limits value be set as breaking down than steering gear 1 before the small value of value and be transferred to auxiliary Control.Even if the vehicle of the steering gear 1 as a result, equipped with the present embodiment remaining normal system after auxiliary control transfer Failure unexpectedly has occurred in motor, can also be travelled in a manner of not departing from traveling lane.

In addition, when having held steering wheel 4, when 1 failure of steering gear need than it is normal when big steering torque, therefore, When assisting steering, driver is readily appreciated that failure, to there is the effect for urging repairing.

Due to this effect, the vehicle of the steering gear 1 equipped with the present embodiment steering gear 1 in automatic Pilot occurs It also can safely continue to travel in the case where failure.

The Vidacare corp 2 of Fig. 2 shows control device, driving circuit, winding, current detector and position detection Device is in the composition of two systems, but torque sensor 12 etc. sensors can also be set as also have 2 or more and make each system with 1 with On sensor.It is same in this case, in the control device of each system, driving circuit, winding, current detector, position When failure has occurred in a part in detector and sensor, it can similarly be controlled by the method described with front come really Protect the safety in traveling.

In addition, Fig. 2 shows the Vidacare corp 2 with same output shaft 19, but it is set as having for each system Substantially same effect can also be obtained by having the composition of output shaft.

In addition, the composition of Fig. 2 shows the example that Vidacare corp 2 is made of the motor 35,41 of two systems, but The effect same with said effect can also be obtained with same thought to the composition for the motor driver for using three systems or more.

In addition, example shown in Fig. 9 is to be transferred to auxiliary control while generating steering torque, but can also pass through steering Torque 21 becomes specified value or more this case to judge that steering wheel 4 is held.Thereby, it is possible to distinguish the inertia because of steering wheel 4 Torque value caused by power and the practical state by driver's steering.

In addition, in failure, in the case where hand is also placed on steering wheel 4 by driver in auto-pilot, as Figure 10 It is shown such to implement to control.Figure 10 is related to the embodiment of the present invention 1, for in automatic Pilot steering gear 1 have occurred therefore Driver holds the case where steering wheel 4 and the electric current that shows steering torque, be powered to the winding of the motor of each system when barrier The figure of the example of value and the time change of current limit value.

In this case, judge that steering wheel 4 is hold by driver in the step 34 of Fig. 5, do not execute automatic when failure Transfer control (step S37) when steering controls and executes failure.In this case, while breaking down (time 60), one Aspect is transferred to auxiliary control from auto-pilot control in the same manner as previously described process, on the other hand limits current to value 55 As shown in 55b from it is normal when current limit value 55a be decremented to failure when minimum current limits value 55c.

In the example of Figure 10, automatic Pilot will not continue to after a failure.That is, since driver holds steering wheel 4, because This omits control of time 60 to the time 61 of Fig. 9 during this.Also, in this example, from the time (moment) 60, execute with Same control after the time 61 of Fig. 9.By the control, in this example also by make current limit value 55 be less than it is normal when and make When the yield of auxiliary torque is less than normal.As a result, again in the case where normal system breaks down, can swimmingly it be transferred to The state of the behavior of vehicle is only controlled by the operation of driver, big entanglement will not occur for the track of vehicle.Further, since failure When auxiliary torque it is smaller, therefore steering needs biggish power, so that driver be made to perceive failure, acquisition supervise repairing this Effect.

In addition, in Fig. 9, current limit value is to be reduced to minimum electricity when failure with the increase of steering torque 54 when failure Limits value is flowed, but the motion state of vehicle can also be taken into account to be changed.For example, at relatively low vehicle speeds, Compared to minimum current limits value when increasing failure for the higher situation of speed.Effect similar to the above can be obtained as a result, And then the operation of steering wheel 4 becomes easy this effect when can also obtain low speed.In addition, in the larger situation of steering angle, steering In speed (steering angular velocity) biggish situation increase failure when minimum current limits value can also obtain with it is above-mentioned substantially same Effect, and then can also obtain and come about and racing rudder becomes easy this effect greatly.In addition, outer being identified using in-vehicle camera etc. In the case where boundary, when there is barrier in front and is promptly evaded to it etc., minimum current is limited when by temporarily increasing failure Value processed, meeting obtains to make promptly to evade while obtaining said effect becomes easy this effect.

Embodiment 2

With reference to Figure 11~Figure 13, the steering gear 1 of the 2nd embodiment of the invention is illustrated.Execute the present embodiment The steering gear 1 and Vidacare corp 2 of control are identical as the 1st embodiment, and and the description is omitted.In addition, the control before failure Control flow when process and failure is identical as Fig. 3, Fig. 4 and Fig. 5.

The present embodiment in the content of the control flow of the step S21 of the step S37 and Fig. 4 of Fig. 5 of the 1st embodiment not Equally.

Figure 11 indicates the process flow of the 2nd embodiment of transfer control (step S37) when the failure of Fig. 5.

In step S71, operation is to Vidacare corp 2 needed for realizing rudder angle required by host controller 15 Torque output is auto-pilot torque.Meanwhile according to the steering torque 21 detected by torque sensor 12 come operation to auxiliary Help the auxiliary torque of the torque of driver.Then, the operation torque command value in step S72.Herein, torque command value is with vehicle Behavior the mode changed greatly does not occur the form for the value that auto-pilot torque and auxiliary torque are synthesized into is subject to operation. For example, the ratio for preferably reducing the ratio of auto-pilot torque with the rising of steering torque 21, increasing auxiliary torque.According to step The torque command value calculated in rapid S72 carrys out operation current instruction value (step S73).Then, the motor of one system of operation Current limit value (step when what is set when failure is equivalent to the failure of the maximum value of the electric current to winding A32 or winding B38 energization S74)。

Herein, current limit value when failure is set as the electric current with steering gear 1 when normal in transfer control in failure The identical value of limits value.

Then, when whether Cutoff current instruction value is the failure set in step S74 in step S75 current instruction value with Under, when current instruction value is failure in current limit value situation below, current instruction value (step S76) is not changed.It is another Aspect is judged in step 75 when current instruction value is greater than failure in the case where current limit value, to become and electric current when failure The mode setting electric current instruction value (step S79) of the identical value of limits value.Then, in step S77, to normal winding A32 circulation operates the driving circuit A31 or driving circuit of normal system with the mode of the same current value of the current instruction value B37。

Then, auto-pilot torque is synthesized into auxiliary torque for what is calculated in step S72 in step S78 Torque command value and determine whether the ratio (auto-pilot ratio) of the torque of auto-pilot is zero.Auto-pilot ratio not In the case where being zero, it is back to step S71 and repeats to handle.In the case where auto-pilot ratio is zero, terminate Figure 11 Shown in failure when transfer control and auxiliary control S21 when executing failure.

Figure 12 is the flow chart of the process flow of the 2nd embodiment of auxiliary control S21 when indicating failure.

Torque command value in step S81, according to steering torque 21 come operation to execute auxiliary control.Herein, will The torque command value of the motor (motor driver) of two systems is given when Vidacare corp 2 is normal before, and be changed to can be by one The torque command value of the motor output of system.In step S82, according to the torque command value calculated come operation to obtain Current instruction value obtaining the torque output same with torque command value, being powered to normal winding A32 or winding B38.

Then, being set when the motor fault of one system of operation, be equivalent to normal winding A32 or winding B38 Current limit value (step S84) when the failure of the maximum value of the electric current of energization.

Herein, current limit value can successively decrease when failure, such as reduce at any time, eventually become prespecified fixed value. Herein, prespecified fixed value be set as than it is previously described normal when the small value of current limit value.In addition, the fixed value Preferably it is set as that the value (minimum current limits value when failure) of following minimum auxiliary torque can be generated：It is lost in remaining normal system Spirit and when can not generate auxiliary torque again completely, be transferred to the steering of steering torque of only driver, driver can be with not substantially The mode for upsetting the behavior of vehicle carries out steering.

Then, in step S84 Cutoff current instruction value whether in the failure being powered to each winding current limit value with Under.When current instruction value is failure in current limit value situation below, current instruction value is not changed in step S85, It is operated in a manner of to normal winding A32 or winding B38 circulation and the same electric current of the current instruction value in step S86 normal The driving circuit A31 or driving circuit B37 of system.

In addition, electric current refers to when the current instruction value calculated in judgment step S82 in the judgement of step S84 is greater than failure In the case where enabling value, current instruction value is reset in such a way that current limit value when becoming with failure is identical in step S87. Thereafter, normal system is operated in a manner of the same current value of the current instruction value for circulating with resetting to normal winding A32 The driving circuit A31 (step S86) of system.

Auxiliary control is until vehicle stops when failure shown in Figure 12 more than executing repeatedly.

Using Figure 13, it is subject in the steering gear 1 of drive control one in auto-pilot control to by above composition Processing in the case that failure has occurred in the motor of system is illustrated.Figure 13 is related to the embodiment of the present invention 2, for for certainly It moves the case where driver does not grasp steering wheel 4 when failure has occurred in the steering gear 1 in driving and shows steering torque, to each system The figure of the example of the time change of current value and current limit value that the winding of the motor of system is powered.

Figure 13 it is envisaged that equipped be carrying out auto-pilot control steering gear 1 vehicle on bend when driving The case where failure has occurred in a part of second system motor 41.In 3 charts of Figure 13, the 201 of upside are driven for expression The steering torque diagram of the time change of the steering torque 21 for the person of sailing.The 202 of center are to indicate the first system motor current value The first system motor current value figure of time change illustrates the electric current of the winding A32 energization to the first system motor 35 The time change of value.The 203 of downside are the electronic electromechanics of second system for indicating the time change of second system motor current value Flow valuve figure, the figure of the time change for the current value that the winding B38 to indicate to second system motor 41 is powered.Furthermore in 201 Shown in solid line 204 indicate driver steering torque (the steering torque 21 of Fig. 1).In addition, 205 table of dotted line shown in 202 The current limit value for showing the first system motor 35, dotted line 206 shown in 203 indicate the electric current limit of second system motor 41 Value processed.In addition, solid line 207 shown in 202 indicates the example of the current instruction value of the first system motor 35, shown in 203 Solid line 208 indicate second system motor 41 current instruction value example.

At the time point of the time (moment) 209 of the left end of Figure 13, vehicle is in automatic Pilot state, such as 204 institute of solid line Show, the state of steering wheel 4 is had left for the hand of driver, does not generate steering torque 204.Therefore, as shown in the step S3 of Fig. 3, Steering gear 1 is controlled by auto-pilot and is turned round in the output torque of the first system motor 35 and the output of second system motor It is acted under the synthesis output torque of square.

In the time 210, second system motor 41 breaks down, and at this moment, steering gear 1 is obtained in the step S15 of Fig. 4 Fault message and judge be in malfunction (step S16), execute step S20 failure when control transfer mode.In turn, exist Failure system is judged in the step S31 of Fig. 5, is operated driving circuit B37 in the step 32 and is cut off the second system that failure has occurred System motor 41.In addition, at the time point of time 210, as shown in Figure 20 1 of steering torque, without steering torque 204, therefore Determine that steering wheel 4 is not grasped (step S35) according to the information got in step S34, auto-pilot control when executing failure It makes (step S36).In failure in auto-pilot control, the torque of operation Vidacare corp 2 is defeated in the step S41 of Fig. 6 Instruction value out.At this point, being cut off since second system motor 41 breaks down, the torque when turning on bend It is insufficient.It, will be to normal system, that is, the first system motor 35 torque command value picture institute above in order to compensate for the insufficient torque It states and is changed to be equivalent to the size of two system degree before failure like that.

According to the torque command value calculated come operation to the current instruction value (step of normal the first system motor 35 S42).Then, in step S43, confirm the current instruction value calculated be with before to the Vidacare corp of normal condition 2 When the identical value of the value of setting is i.e. normal this case that current limit value 205a or less.When current instruction value is normal, electric current is limited In value 205a situation below processed, driving circuit A31 (step is controlled according to the current instruction value (step S44) for not making to change S45).When current instruction value is more than normal in the case where current limit value 205a, current instruction value is reset to normally When current limit value 205a (step S46) control driving circuit A31.

Herein, the maximum output of the Vidacare corp 2 of steering gear 1 is according to the vehicle to come about and requiring peak torque Halted state is designed.Therefore, in the state of having a degree of speed, required torque can become smaller, as this implementation In the case that such two system shown in example has the composition of same Vidacare corp 35,41, a system degree can be passed through Torque output come sufficiently provide travel in required torque of coming about.Therefore, the failure of steering gear 1 is perceived in driver And before starting steering, continue auto-pilot according to process shown in fig. 6, using normal the first system motor 35.

Then, at the time of the time of Figure 13 211, driver perceives the failure of steering gear 1 and catches steering wheel 4, At this moment, as shown in solid line 204, start to detect steering torque 204.When steering torque 204 increases, event is executed in step 37 Control is shifted when barrier.

When the failure of the present embodiment in transfer control, as shown in figure 11, operation continues auto-pilot control in step 71 Auxiliary torque needed for required auto-pilot torque and auxiliary control.Then, as described previously with the behavior of vehicle not Big variation occurs and the mode of change in torque that driver will not experience unexpected steering wheel 4 synthesize auto-pilot torque with Auxiliary torque (step S72), current value (step S73) that union is equivalent to each torque, being powered to winding A32.For example, picture The current value corresponding to auto-pilot torque indicated in Figure 13 with single dotted broken line 214 and the correspondence that is indicated with double dot dash line 215 Carried out shown in the time change of the current value of auxiliary torque like that with the increase of the operation torque 204 of driver and reduce from The control of the ratio, the ratio of increase auxiliary torque of dynamic steering torque.At this point, the current value for corresponding to auto-pilot torque is passed Subtract, the current value corresponding to auxiliary torque is incremented by.Herein, Tu13Zhong, single dotted broken line 214 and double dot dash line 215 are to be recorded as phase The lines changed linearly for steering torque 204, but can also actually be set as according to steering situation and in nonlinear change Lines.

Then, current limit value when setting failure in step S74, but herein, being shifted in control in failure is to make electricity Stream limits value not from it is normal when current limit value change.That is, holding steering wheel 4 in driver and being transferred to auxiliary control Before in a period of, the export-restriction value (current limit value when failure) of the motor of normal system be set as with it is normal when output on The identical value of limit value (current limit value when normal).

Then, as shown in figure 11, when the current instruction value calculated in verification step S73 is failure below current limit value This case (step S75).When current instruction value being failure below current limit value, according to the current-order for not making to change Value (step S76) controls driving circuit A31 (step S77).On the other hand, the current limit when current instruction value is more than failure In the case where value, current limit value (step S79) controls driving circuit A31 when current instruction value is reset to failure.

As shown in figure 13, at the time of time 212 that the ratio of the current value with auto-pilot becomes zero, as Figure 11 Terminate transfer control when failure shown in step S78 like that, auxiliary control when executing failure shown in the step S21 of Fig. 5.At this point, Steering wheel 4 is held after being completely transferred to auxiliary control in driver, and controller (control device) is by the motor of normal system Export-restriction value with time going by and until being gradually decrease to export-restriction value when failure (current limit value when failure). That is, when the export-restriction value of the motor of normal system is decremented to failure until current limit value.

When the failure of the 2nd embodiment in auxiliary control, as shown in figure 12, (torque refers to operation auxiliary torque in step S81 Enable value), union is to current instruction value (step needed for making normal the first system motor 35 export auxiliary torque S82).Then, current limit value when arithmetic fault in step S83.Shown in the dotted line 205 (portion 205b) of such as Figure 13 that Sample, current limit value reduce at any time.In addition, current limit value is preferably final as shown in dotted line 205 (portion 205c) when failure Become minimum current limits value when failure in a same manner as in the first embodiment.

Then, in step S84, confirm this feelings below current limit value when the current instruction value calculated is failure Condition.When current instruction value is failure in current limit value situation below, according to the current instruction value (step for not making to change S85) driving circuit A31 (step S86) is controlled.On the other hand, current instruction value be more than failure when current limit value feelings Under condition, current limit value (step S87) controls driving circuit A31 when current instruction value is reset to failure.Then, instead The process for carrying out Figure 12 again persistently carries out auxiliary control when failure until vehicle becomes halted state.

Through this embodiment, as the 1st embodiment, also think to become in the case where operating vehicle with automatic Pilot The hand of driver has left the state of steering wheel 4 (from hand state).In the case where this is from hand state, a part of steering gear 1 is had occurred In the case where failure, by the limits value of the electric current of winding A32 or winding B38 energization be set as coming with value identical before failure after Continuous auto-pilot.The vehicle for having the steering gear 1 of the present embodiment as a result, also can safely continue in 1 failure of steering gear Traveling and big entanglement will not occur for behavior.

In addition, driver perceives failure hold steering wheel 4 start steering in the case where, will to winding A32 or around Group B38 be powered current value limits value be set as breaking down than steering gear 1 before the small value of value and be transferred to auxiliary Control.Even if the motor (motor driver) of the remaining normal system of the vehicle for having the steering gear of the present embodiment as a result, Failure unexpectedly has occurred, can also be travelled in a manner of not departing from traveling lane.

In addition, when having held steering wheel 4, when 1 failure of steering gear need than it is normal when big torque, therefore, auxiliary When helping steering, driver is readily appreciated that failure, to there is the effect for urging repairing.

Due to this effect, the vehicle equipped with the steering gear 1 for using the 2nd embodiment of the invention is in automatic Pilot Steering gear 1 also can safely continue to travel in the case where failure has occurred.

Embodiment 3

With reference to Figure 14 and Figure 15, the steering gear 1 of the 3rd embodiment of the invention is illustrated.The steering of 3rd embodiment The composition of device 1 and Vidacare corp 2 is identical as the 1st embodiment and the 2nd embodiment (Fig. 1 and Fig. 2), says so omit herein It is bright.In addition, flow chart is identical as flow chart (Fig. 3~Fig. 8) of the 1st embodiment, and the description is omitted.

The present embodiment controls the event of the step S54 in the processing in transfer mode in the failure of Fig. 7 in the 1st embodiment It is different in current limit value operation when barrier.

In the 3rd embodiment, the flow chart of Figure 14 is executed in current limit value operation (step S54) in the failure of Fig. 7 Shown in handle.In step S91, the speed of one of 22 signal of vehicle-state is obtained.After getting speed, in step S92 Determine speed whether more than preset speed threshold value.Herein, speed threshold value is, for example, according to make wheel come about institute The speed of the power needed changes to determine, such as preferably the speed of the power above to a certain degree will be needed as threshold value.

In the case where determining speed in step S92 to be more than speed threshold value, current limit value when failure is set as high speed When limits value (step S93).In addition, electric current when failure is limited in the case where determining that speed is less than speed threshold value in step S92 Value processed is set as limits value (step S94) when low speed.

Herein, when high speed limits value and when low speed limits value indicate with the increase of steering torque and process of time etc. and Change, eventually become the current limit value of prespecified fixed value being powered to winding A34 and winding B38.Current limit value Prespecified fixed value be preferably set as the value of limits value when limits value when high speed is less than low speed.In addition, these limits values are suitable It is set as being worth as follows：In each velocity band, the torque of the remaining system exported under the current limit value is because of the remaining system Break down and lose again in the case where, vehicle derailing lane will not be led to because of the entanglement of behavior.

Using Figure 15, the composition in the case where by being added with this processing is subject in the steering gear 1 of drive control, Processing in the case that failure has occurred in the motor of a system in auto-pilot control is illustrated.Figure 15 is related to the present invention Embodiment 3, for for failure has occurred in steering gear 1 in automatic Pilot when driver do not grasp steering wheel 4 the case where and Show the example of the time change of steering torque, the current value and current limit value that are powered to the winding of the motor of each system Figure.

Figure 15 it is envisaged that equipped be carrying out auto-pilot control steering gear 1 vehicle on bend when driving The case where failure has occurred in a part of second system motor 41.

The 501 of Figure 15 are same as the steering torque diagram 51 of the time change of the expression steering torque of Fig. 9 of the 1st embodiment Steering torque diagram.502 be indicate it is to the size of the winding A32 of the first system motor current value being powered, with Fig. 9 the The same the first system motor current value figure of one system motors current value Figure 52.503 be expression to second system motor The size of current value that is powered of winding B38, same with second system motor current value Figure 53 of Fig. 9 second system it is electric Motivation current value figure.In Figure 15, other than the content of Fig. 9, it is also added with the speed Figure 30 1 for indicating speed.Speed Figure 30's 1 The time change of the expression speed of solid line 302.In addition, processing is implemented with the 1st before 61 steering wheel 4 of time of Figure 15 is grasped Example is identical, and and the description is omitted.

In the time (moment) 61, driver catches steering wheel 4, and steering torque 54 increases, at this moment, in the step 37 of Fig. 5 Transfer control when executing failure.During in failure, transfer control is executed, it is contemplated that as shown in Figure 30 1 of the expression speed of Figure 15 Speed 302 is the case where reducing.In this case, in the time 303, speed is lower than preset speed threshold value 304.It is being higher than In the case where speed threshold value 304, be the same as the first embodiment, make current limit value 55b1 with the increase of steering torque 54 and Successively decreased with certain proportion.On the other hand, in the case where time S303 speed is lower than speed threshold value 304, current limit value is reduced The reduction amount of 55b2.

In addition, in the time 62, minimum current limits value 55c when current limit value 55 reaches failure, but the value is also set to Big value when than speed to be more than speed threshold value.It is accompanied by this, the normal the first system motor indicated with solid line 57 can be made It is big when 35 current instruction value is than high speed, correspond to auxiliary torque so as to further increase with what double dot dash line 64 indicated Current value.Therefore, it is able to suppress the variation of steering torque 54.

By as above constituting the steering gear being controlled 1 as the 1st embodiment, even if the electronic drive in automatic Pilot Failure has occurred in the motor of one system of dynamic device 2, also can safely continue to travel.In turn, it reduces, in speed to make vehicle In the case where taking turns the power increase for coming about required, increases current limit value according to speed, thus increase the defeated of Vidacare corp 2 Out, so as to mitigating the load of driver.

Above-mentioned example is set to through the threshold value of speed come the composition of switching electric current limits value, but can also be set as with speed Reduce and current limit value continuously increases.It is same in this case, the same effect for reducing the load of driver can be obtained Fruit.

In addition, above-mentioned example shows according to speed the example for changing current limit value, but can also be set as according to rudder The variation at angle, the variation of angular velocity rather than speed change the composition of current limit value.

In addition, can also be in the case where there is the requirement such as collision avoidance because of the information of host controller 15, vehicle-state 22 Implement the processing for temporarily increasing current limit value etc..That is, in the case where there is collision avoidance requirement, by export-restriction value when failure Big value in the case where being set as than not evading requirement.

Furthermore the present invention includes various modifications example, is not limited to the various embodiments described above.For example, above-described embodiment be for Illustrate detailed description made by the present invention in a manner of understandable, is not necessarily defined in and has all compositions.In addition, can A part of the composition of a certain embodiment to be replaced with to the composition of other embodiments, in addition it is also possible to a certain embodiment Constitute the composition that other embodiments are added.Furthermore, it is possible to a part of the composition of each embodiment carry out other composition addition, It deletes, replacement.

Symbol description

1 steering gear

2 Vidacare corps

3 steering mechanisms

4 steering wheels

5 steering shafts

6 pinion shafts

7 rack shafts

8 deceleration mechanisms

9 track rods

10,11 wheel

12 torque sensors

13 belt pulleys

14 ball screws

15 host controllers

16 input terminals

17 output terminals

18 power supplys

19 output shafts

20 upper signals

21 steering torque signals

22 Vehicular status signals

23 steering gear status signals

24 warning devices

25 warning instructions

30 control device A

31 current detector A

32 winding A

33 position detector A

35 the first system motor

36 control device B

37 current detector B

38 winding B

39 current detector B

40 position detector B

41 second system motor.

Claims

1. a kind of steering gear, has Vidacare corp, the Vidacare corp have multisystem by driving circuit with The motor that combination around group is constituted,

The steering gear has controller, any one of the controller selection auxiliary control and auto-pilot control control System controls the Vidacare corp to be no more than the output of range of preset export-restriction value, wherein the auxiliary Control is that steering force is assisted according to the steering torque of the operation input by steering wheel, and the auto-pilot control is basis Rudder angle instruction value controls the rudder angle of steering wheel, which is characterized in that,

One system of the motor of the Vidacare corp described in the control under auto-pilot control has occurred In the case where failure,

The controller continues the auto-pilot control using the motor for the normal system not broken down, later,

The export-restriction value of the motor of normal system when having been transferred to the auxiliary control is set as failure When export-restriction value, when the failure export-restriction value than systematic motor all set in normal action it is normal when Export-restriction value is small.

2. steering gear according to claim 1, which is characterized in that

Export-restriction value can be changed according to the motion state of vehicle when the failure.

3. steering gear according to claim 2, which is characterized in that

When the failure export-restriction value be set as speed it is lower when value than speed compared with Gao Shi great.

4. steering gear according to claim 2, which is characterized in that

When the failure export-restriction value be set as steering angular velocity it is larger when the value bigger when smaller than steering angular velocity.

5. steering gear according to claim 2, which is characterized in that

When the failure export-restriction value be set as steering angle it is larger when the value bigger when smaller than steering angle.

6. steering gear according to claim 2, which is characterized in that

Export-restriction value is set as having value big when requiring when collision avoidance requirement than no collision avoidance when the failure.

7. steering gear according to claim 1, which is characterized in that

The controller judges that driver has held the steering wheel and has been switched to the auxiliary control from auto-pilot control System.

8. steering gear according to claim 7, which is characterized in that

The controller judges that the steering wheel has been held by driver in the case where steering torque has reached specified value or more.

9. steering gear according to claim 8, which is characterized in that

In the case where significantly detecting the steering torque, export-restriction value when the failure is set to by the controller It is low in situation more lesser than the steering torque.

10. steering gear according to claim 1, which is characterized in that

When constituting 1 system down of the motor of the Vidacare corp, the controller is judging steering wheel not Continue the auto-pilot control in the case where being held.

11. steering gear according to claim 1, which is characterized in that

Output of the controller with the motor needed for auto-pilot control in the form of internal operation values Ratio, that is, auto-pilot contribution rate and it is described auxiliary control needed for the motor output ratio i.e. assist control tribute Rate is offered,

When being switched to auxiliary control from auto-pilot control, the auto-pilot contribution rate is gradually decreased, simultaneously The auxiliary control contribution rate is gradually increased.

12. steering gear according to claim 11, which is characterized in that

When the steering torque has reached specified value or more, the auto-pilot contribution rate is set as zero and held by the controller Control under the row auxiliary control.

13. steering gear according to claim 1, which is characterized in that

The system in the motor for constituting the Vidacare corp in the control of auto-pilot control occurs When failure, driver holds the steering wheel be transferred to the auxiliary control before in a period of, the controller will The export-restriction value of the motor of the normal system be set as with it is described normal when the identical value of export-restriction value.

14. steering gear according to claim 13, which is characterized in that

The steering wheel is held after being completely transferred to auxiliary control in driver, and the controller is by the normal system The export-restriction value of motor export-restriction value when being reduced to the failure.

15. steering gear according to claim 14, which is characterized in that

The controller is after being transferred to the auxiliary control by the export-restriction of the motor of the normal system It is to gradually decrease with time going by when value is reduced to the failure when export-restriction value.

16. steering gear according to claim 1, which is characterized in that

Has warning generator, the warning generator constitutes institute when the controller is carrying out auto-pilot control It states one in the motor of Vidacare corp and the warning for issuing in the case where failure and informing failure has occurred.

17. steering gear according to claim 16, which is characterized in that

The warning generator supervises driver to grasp the steering wheel by alerting.

18. a kind of vehicle has steering gear according to claim 16, which is characterized in that

Warning is provided with to the warning generator and shows that the failure of failure of the steering gear is shown to other vehicles Device.

19. a kind of vehicle has steering gear according to claim 16, which is characterized in that

The a part for the motor for constituting the Vidacare corp in the control of auto-pilot control has occurred When failure, the controller reduces speed.

20. a kind of vehicle has steering gear according to claim 16, which is characterized in that

The a part for the motor for constituting the Vidacare corp in the control of auto-pilot control has occurred When failure, the controller carries out the auto-pilot control in a manner of guiding to low speed side lane.